Target detection method, device and system, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a target detection method, device and system, electronic equipment and a storage medium. The method comprises the steps of obtaining point cloud data collected by multiple radar equipment in a target area; obtaining weight information corresponding to the point cloud data of each radar device, wherein the weight information is determined according to a weight correlation factor of a target object in the target area relative to each radar device; according to the obtained weight information, fusing the point cloud data of the plurality of radar devices to obtain fused data; performing target detection on a target object in the target area based on the fused data to obtain target information of the target object; the target information is used for indicating the position and / or track of the target object in the target area. Through the target detection method provided by the embodiment of the invention, the target can be detected more accurately.

Description

Technical Field

[0001] This application relates to the technical field of object detection. Specifically, this application relates to an object detection method, apparatus, system, electronic device, and storage medium. Background Art

[0002] A radar is an electronic device that uses electromagnetic waves to detect targets. The radar emits electromagnetic waves to irradiate the target and receives its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, and altitude.

[0003] In an actual scenario, usually a single radar is used for detection. Due to reasons such as the radar detection range, blind area, and obstacles, the problem of inaccurate target detection occurs. Summary of the Invention

[0004] Embodiments of this application provide an object detection method, apparatus, system, electronic device, and storage medium, which can detect targets more accurately.

[0005] The technical solutions are as follows:

[0006] According to one aspect of this application, an object detection method includes: obtaining point cloud data collected by multiple radar devices in a target area; obtaining weight information corresponding to the point cloud data of each radar device, where the weight information is determined according to weight-related factors of a target object in the target area relative to each radar device; fusing the point cloud data of multiple radar devices according to the obtained weight information to obtain fused data; performing object detection on the target object in the target area based on the fused data to obtain target information of the target object; and the target information is used to indicate the position and / or trajectory of the target object in the target area.

[0007] Optionally, before obtaining the weight information corresponding to the point cloud data of each radar device, the method further includes: extracting weight-related factors of the target object relative to each radar device from the point cloud data of each radar device, where the weight-related factors include at least one of the distance of the target object relative to the radar device, the angle of the target object relative to the radar device, the speed of the target object moving relative to the radar device, and the signal-to-noise ratio; determining the weight information according to the correspondence between the weight-related factors and weight configuration information; and the weight configuration information is used to indicate the weight assigned to the corresponding weight-related factor of the radar device.

[0008] Optionally, the weight-related factor includes a first factor and a second factor; determining the weight information according to the correspondence between the weight-related factor and the weight configuration information includes: determining a first weight according to the first factor and the weight configuration information corresponding to the first factor; determining a second weight according to the second factor and the weight configuration information corresponding to the second factor; and determining the weight information through fusion calculation based on the first weight and the second weight.

[0009] Optionally, fusing the point cloud data of multiple radar devices according to the obtained weight information to obtain fused data includes: determining a target coordinate system and determining the mapping relationship between each radar device and the target coordinate system; mapping the point cloud data of each radar device into the mapping information of the target coordinate system according to the mapping relationship; and fusing the mapping information of multiple radar devices according to the obtained weight information to obtain the fused data.

[0010] Optionally, determining the mapping relationship between each radar device and the target coordinate system includes: obtaining the radar coordinate system of each radar device; and determining the mapping relationship between each radar device and the target coordinate system according to the radar coordinate system and the target coordinate system.

[0011] Optionally, the multiple radar devices include a main radar device and multiple secondary radar devices; the main radar device is used to execute the target detection method; obtaining the radar coordinate system of each radar device includes: identifying each secondary radar device within the target area through the main radar device to obtain the radar coordinate information of each secondary radar device; and determining the radar coordinate system of each secondary radar device according to the radar coordinate information of each secondary radar device.

[0012] According to one aspect of the present application, a target detection method includes: obtaining target information of a target object within a target area, where the target information is obtained by performing target detection on the target object within the target area based on the fused data, and the fused data is obtained by fusing the point cloud data collected by multiple radar devices within the target area and the weight information corresponding to the point cloud data, and the weight information is determined according to the weight-related factor of the target object relative to each radar device; the target information is used to indicate the position and / or trajectory of the target object within the target area; determining the trajectory or position of the target object according to the target information; and displaying the trajectory or position of the target object on an interaction page.

[0013] Optionally, the method further includes: obtaining radar coordinate information based on a radar setting operation on the interaction page; the radar coordinate information includes at least one of the installation position and installation angle of each radar device within the target area; and determining the radar coordinate system of each radar device according to the radar coordinate information.

[0014] According to one aspect of the present application, a target detection system includes a main radar device and at least one secondary radar device, wherein: each of the secondary radar devices is configured to collect point cloud data within a target area; the main radar device is configured to obtain the point cloud data collected by each of the secondary radar devices and corresponding weight information, and fuse the point cloud data of each of the secondary radar devices according to the obtained weight information, so as to perform target detection on a target object within the target area based on the fused data, and obtain target information of the target object; the target information is used to indicate the position and / or trajectory of the target object within the target area.

[0015] According to one aspect of the present application, a target detection device includes: a collected data acquisition module configured to obtain point cloud data collected by a plurality of radar devices within a target area; a weight information acquisition module configured to obtain weight information corresponding to the point cloud data of each radar device, where the weight information is determined according to a weight correlation factor of a target object within the target area relative to each radar device; a target information acquisition module configured to fuse the point cloud data of the plurality of radar devices according to the obtained weight information to obtain fused data; a target detection module configured to perform target detection on a target object within the target area based on the fused data, and obtain target information of the target object; the target information is used to indicate the position and / or trajectory of the target object within the target area.

[0016] According to one aspect of the present application, a target detection device includes: an information acquisition module configured to obtain target information of a target object within a target area, where the target information is obtained by performing target detection on the target object within the target area based on fused data, and the fused data is obtained by fusing point cloud data collected by a plurality of radar devices within the target area and weight information corresponding to the point cloud data, and the weight information is determined according to a weight correlation factor of the target object relative to each radar device; the target information is used to indicate the position and / or trajectory of the target object within the target area; a position determination module configured to determine the trajectory or position of the target object according to the target information; a position display module configured to display the trajectory or position of the target object on an interactive page.

[0017] According to one aspect of the present application, an electronic device includes at least one processor and at least one memory, wherein computer-readable instructions are stored on the memory; the computer-readable instructions are executed by one or more of the processors, so that the electronic device implements the target detection method as described above.

[0018] According to one aspect of the present application, a storage medium stores computer-readable instructions, and the computer-readable instructions are executed by one or more processors to implement the object detection method as described above.

[0019] According to one aspect of the present application, a computer program product includes computer-readable instructions. The computer-readable instructions are stored in a storage medium, and one or more processors of an electronic device read the computer-readable instructions from the storage medium, load and execute the computer-readable instructions, so that the electronic device implements the object detection method as described above.

[0020] The beneficial effects brought by the technical solution provided by the present application are as follows:

[0021] The solution of the present application can be applied to scenarios where objects (or object targets) are detected based on radar, and radar can be used to locate the position of the object or identify target information such as the trajectory of the object. Existing solutions are usually single-radar detection solutions, and the detection of objects is inaccurate in scenarios such as encountering obstacles. The solution of the present application can use multiple radar devices, which can be respectively arranged in different directions. Multiple radar devices are used to collect data, and the collected data (such as the point cloud data of the radar devices) is uploaded to a computing node. The computing node can also obtain the weight information corresponding to each point cloud data and fuse the point cloud data according to the weight information, so as to determine the target information of the object target. This solution proposes a method for weighted fusion of multi-radar point cloud data. Data is collected by multiple radar devices, weights are configured for the collected data, and then they are fused together for object detection to obtain more accurate target information.

[0022] Specifically, this solution can be applied to a computing node. The computing node can be a radar device with radar function (the radar device where the computing node is located is regarded as the main radar device, and other radar devices in the target area are regarded as secondary radar devices), or an electronic device without radar function (such as a server). The computing node can interact with multiple radar devices to obtain the point cloud data of multiple radar devices in the target area; the computing node can also obtain the weight information corresponding to the point cloud data of each radar device. The weight information is determined according to the weight-related factors of the object target relative to each radar device, and the weight-related factors are determined according to the point cloud data. After the computing node determines the point cloud data and the weight information, it can fuse the point cloud data of multiple radar devices according to the weight information, and finally obtain the target information of the object target in the target area, so as to track or locate the object target in the target area based on the target information. Description of the Drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0024] Figure 1A is a schematic diagram of the implementation environment related to the present application;

[0025] Figure 1B is a schematic flowchart of the object detection method according to an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of the relationship between the weight of the point cloud data of the radar device and the detection distance;

[0027] Figure 3 is a schematic diagram of the relationship between the weight of the point cloud data of the radar device and the detection angle;

[0028] Figure 4 is a schematic flowchart of the object detection method according to an embodiment of the present application;

[0029] Figure 5 is a schematic structural diagram of the object detection device according to an embodiment of the present application;

[0030] Figure 6 is a hardware structure diagram of an electronic device shown according to an exemplary embodiment;

[0031] Figure 7 is a structural block diagram of an electronic device shown according to an exemplary embodiment. Detailed implementation manners

[0032] The following will describe in detail the embodiments of the present application. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals identify the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be construed as a limitation to the present application.

[0033] Those skilled in the art can understand that, unless specifically stated otherwise, the singular forms "a", "an", "the", and "said" used herein may also include the plural forms, and "plural" means two or more, and other quantifiers are similar. It should be further understood that the term "comprising" used in the specification of this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The phrase "and / or" used herein describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0034] The solution of this application can be applied to scenarios where a target (or target object) is detected based on radar, and radar can be used to locate the position information of the target or identify target information such as the trajectory information of the target. Existing solutions are usually single-radar detection solutions, and the detection of the target is inaccurate in scenarios such as encountering obstacles. The solution of this application can use multiple radar devices to detect the target object. The multiple radar devices can be divided into a main radar device and multiple secondary radar devices. The main radar device can also be called a computing node. The computing node can be a radar device with radar functions or an electronic device without radar functions. For example, the electronic device can be a computer device deployed with a von Neumann architecture, and the computing device includes but is not limited to desktop computers, laptop computers, servers, etc. Or, the electronic device can also be an electronic device with a central control function, and the electronic device includes gateways, etc.

[0035] Figure 1A It is a schematic diagram of the implementation environment involved in a target detection method. The implementation environment at least includes a user terminal 110, a smart device 130, a server side 170, and a network device. In Figure 1A which, the network device includes a gateway 150 and a router 190, and this is not a specific limitation here.

[0036] Among them, the user terminal 110, which can also be considered as the user side or the terminal, can deploy (also understood as install) the client associated with the smart device 130. This user terminal 110 can be an electronic device such as a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart control panel, and other devices with display and control functions, and is not limited here.

[0037] Among them, the client is associated with the intelligent device 130. Essentially, the user registers an account in the client and configures the intelligent device 130 in the client. For example, the configuration includes adding a device identifier to the intelligent device 130, etc., so that when the client runs in the user terminal 110, functions such as device display and device control of the intelligent device 130 can be provided for the user. This client can be in the form of an application or a web page. Correspondingly, the interface for the client to perform device display can be in the form of a program window or a web page, and this is not limited here either.

[0038] The intelligent device 130 is deployed in the gateway 150 and communicates with the gateway 150 through its own configured communication module, and thus is controlled by the gateway 150. It should be understood that the intelligent device 130 generally refers to one of multiple intelligent devices 130. The embodiments of the present application only take the intelligent device 130 as an example for illustration, that is, the embodiments of the present application do not limit the number and device type of the intelligent devices deployed in the gateway 150. In an application scenario, the intelligent device 130 accesses the gateway 150 through a local area network and is thus deployed in the gateway 150. The process for the intelligent device 130 to access the gateway 150 through the local area network includes: the gateway 150 first establishes a local area network, and the intelligent device 130 joins the local area network established by the gateway 150 by connecting to the gateway 150. This local area network includes but is not limited to: ZIGBEE or Bluetooth. Among them, the intelligent device 130 can be an intelligent printer, an intelligent fax machine, an intelligent camera, an intelligent air conditioner, an intelligent door lock, an intelligent light, or a human body sensor, a door and window sensor, a temperature and humidity sensor, a water immersion sensor, a natural gas alarm, a smoke alarm, a wall switch, a wall socket, a wireless switch, a wireless wall sticker switch, a magic cube controller, a curtain motor, a millimeter wave radar, etc. configured with a communication module.

[0039] The interaction between the user terminal 110 and the intelligent device 130 can be achieved through a local area network or a wide area network. In an application scenario, the user terminal 110 establishes a communication connection with the gateway 150 in a wired or wireless manner through the router 190. For example, the wired or wireless manner includes, but is not limited to, WIFI, etc., so that the user terminal 110 and the gateway 150 are deployed in the same local area network, and then the user terminal 110 can achieve interaction with the intelligent device 130 through the local area network path. In another application scenario, the user terminal 110 establishes a communication connection with the gateway 150 in a wired or wireless manner through the server side 170. For example, the wired or wireless manner includes, but is not limited to, 2G, 3G, 4G, 5G, WIFI, etc., so that the user terminal 110 and the gateway 150 are deployed in the same wide area network, and then the user terminal 110 can achieve interaction with the intelligent device 130 through the wide area network path.

[0040] Among them, the server side 170 can also be considered as the cloud, cloud platform, platform side, service side, etc. This server side 170 can be a single server, a server cluster composed of multiple servers, or a cloud computing center composed of multiple servers, in order to better provide background services to a large number of user terminals 110.

[0041] In an application scenario, both the main radar device and the secondary radar device can be Figure 1A the intelligent device 130 as shown. In another application scenario, the main radar device can be Figure 1A the user terminal 110, gateway 150, or server side 170 as shown, and the secondary radar is Figure 1A the intelligent device 130 as shown, so that multiple secondary radar devices can transmit the point cloud data collected in the target area to the main radar device for target detection through different interaction methods.

[0042] Such as Figure 1BAs shown, this solution can collect data through multiple radar devices (such as Radar 1, Radar 2, and Radar 3), analyze it based on the Constant False-Alarm Rate (CFAR) detection algorithm to obtain point cloud data, and upload the point cloud data to the computing node (the main radar device). Moreover, multiple secondary radar devices can also determine the corresponding weight-related factors based on the point cloud data, and then determine the weight information of the point cloud data of each radar device and upload it to the main radar device; alternatively, the secondary radar devices upload the point cloud data as the collected data to the main radar device, and the main radar device determines the corresponding weight-related factors based on the point cloud data, and then determines the weight information of the point cloud data of each secondary radar device. Among them, the weight-related factors can include at least one of the distance of the target object relative to the radar device, the angle of the target object relative to the radar device, the speed of the target object moving relative to the radar device, and the signal-to-noise ratio. The main radar device can fuse the collected data according to the weight information, and then determine the target information of the target object, and perform unified output through the main radar device. This solution proposes a method for weighted fusion of multi-radar point cloud data. It collects the corresponding point cloud data through multiple radar devices, obtains the corresponding weight information based on the collected point cloud data, and then fuses the point cloud data together based on the weight information to detect the target object in the target area to obtain more accurate target information. Moreover, this solution can set the main radar device, and through the multi-radar detection of one main and multiple secondary radars, improve the radar detection range, reduce the radar blind area, and can aggregate the computing power of the radars into one radar.

[0043] Specifically, this solution can be applied to the computing node. The computing node can interact with multiple radar devices to obtain the point cloud data collected by multiple radar devices in the target area; the computing node can also obtain the weight information corresponding to the point cloud data of each radar device. The weight information is determined according to the weight-related factors of the target object in the target area relative to each radar device. The weight-related factors can include at least one of distance, angle, speed, and signal-to-noise ratio. After determining the weight-related factors, the weight information can be determined according to the weight-related factors and the weight configuration information. The weight configuration information of the radar device includes the corresponding relationship between the weight-related factors and the weight configuration information. The weight configuration information of the radar device is pre-configured and stored in the radar device according to at least one of the maximum ranging distance, distance resolution, maximum angle measurement, and signal strength of the radar device.

[0044] For example, the weight configuration information of different radars can be affected by parameters such as the maximum ranging distance and maximum angle measurement range detected by the radar itself. Taking the maximum ranging distance of the radar as 10m and the angle measurement range [-60°, 60°] as an example, the relationship between distance and weight is as Figure 2 shown Figure 2The abscissa is the distance, and the ordinate is the weight. The closer the distance is to the maximum ranging range, the smaller the weight. The relationship between the angle and the weight is as shown in Figure 3 shown, Figure 3 The abscissa is the angle, and the ordinate is the weight. The closer the angle is to the boundary of the angle range, the smaller the weight; the closer the angle is to 0°, the greater the weight. Here, the angle refers to the included angle between the azimuth of the target object and the orientation of the radar device. When the weight-related factors include multiple factors, the weights of each factor can be determined, and then the weights of each factor are multiplied or added to finally obtain the weight information. In an alternative embodiment, the weight-related factors include a first factor and a second factor. Then, the steps for determining the weight information may include: determining a first weight according to the first factor and the weight configuration information corresponding to the first factor; determining a second weight according to the second factor and the weight configuration information corresponding to the second factor; performing a fusion calculation based on the first weight and the second weight to determine the weight information. The first factor and the second factor can be any two of distance, angle, speed, and signal-to-noise ratio. For example, the first factor can be distance, and the second factor can be angle.

[0045] After the computing node determines the point cloud data and the weight data, it can fuse the point cloud data of multiple radar devices according to the weight information to determine the target information of the target object in the target area. It should be noted that the process of completing the analysis of the weight information can be calculated on the secondary radar device or on the primary radar device, and can be specifically configured according to requirements.

[0046] Specifically, the embodiment of the present application provides a target detection method, which can be applied to a computing node, as shown in Figure 4 shown, the method includes:

[0047] Step 402, obtain the point cloud data collected by multiple radar devices in the target area.

[0048] Step 404, obtain the weight information corresponding to the point cloud data of each radar device, where the weight information is determined according to the weight-related factors of the target object in the target area relative to each radar device.

[0049] Step 406, fuse the point cloud data of multiple radar devices according to the obtained weight information to obtain fused data.

[0050] Step 408, perform target detection on the target object in the target area based on the fused data to obtain the target information of the target object; the target information is used to indicate the position and / or trajectory of the target object in the target area.

[0051] The solution of this application can be applied to scenarios where a target (or target object) is detected based on radar, and radar can be used to locate the position information of the target or identify target information such as the trajectory information of the target. Existing solutions are usually single-radar detection solutions, and the detection of the target is inaccurate in scenarios such as encountering obstacles. However, the solution of this application can use multiple radar devices to collect data, upload the collected point cloud data to a computing node, and the computing node can also determine the weight information corresponding to each piece of collected data, and fuse the collected data according to the weight information, so as to determine the target information of the target object. This solution proposes a method for weighted fusion of multi-radar point cloud data, collects data through multiple radar devices, configures weights for the collected data, and then fuses them together for target detection to obtain more accurate target information. Moreover, this solution can set a main radar device, and through multi-radar detection with one main and multiple sub-radars, the radar detection range can be increased, the radar blind area can be reduced, and the computing power of the radars can be concentrated in one radar.

[0052] Specifically, this solution can be applied to a computing node, which can be a radar device with radar functions (the radar device where the computing node is located is regarded as the main radar device, and other radar devices in the target area are regarded as sub-radar devices), or an electronic device without radar functions (such as a server). The computing node can interact with multiple radar devices to obtain the point cloud data of multiple radar devices in the target area; the computing node can also obtain the weight information corresponding to the point cloud data of each radar device, and the weight information is determined according to the weight-related factors of the target object relative to each radar device, and the weight-related factors are determined according to the point cloud data. After the computing node determines the point cloud data and the weight information, it can fuse the point cloud data of multiple radar devices according to the weight information, and finally obtain the target information of the target object in the target area, so as to track or locate the target object in the target area based on this target information.

[0053] This solution can analyze information such as the distance, angle, and speed of the target object relative to the radar device based on the collected data, and then determine the weight information by querying the weight configuration information of the radar device. Specifically, as an optional embodiment, before obtaining the weight information corresponding to the point cloud data of each radar device, the method further includes: extracting the weight-related factors of the target object relative to each radar device from the point cloud data of each radar device, and the weight-related factors include at least one of the distance of the target object relative to the radar device, the angle of the target object relative to the radar device, the speed of the target object moving relative to the radar device, and the signal-to-noise ratio; determining the weight information according to the corresponding relationship between the weight-related factors and the weight configuration information; the weight configuration information is used to indicate the weight assigned to the corresponding weight-related factors of the radar device.

[0054] The weight-related factors can be at least two. Specifically, as an optional embodiment, the weight-related factors include a first factor and a second factor. Determining the weight information according to the correspondence between the weight-related factors and the weight configuration information includes: determining a first weight according to the first factor and the weight configuration information corresponding to the first factor; determining a second weight according to the second factor and the weight configuration information corresponding to the second factor; and determining the weight information through fusion calculation based on the first weight and the second weight. The fusion calculation includes adding weights or multiplying weights. Additionally, when analyzing based on multiple weight-related factors, the weight information can be determined according to the mutual influence between the weight-related factors. The first weight and the second weight can be adjusted (increase or decrease the value of the weight) according to the influence amount between the first factor and the second factor, so as to obtain more reasonable weight information. Moreover, as the target object changes, the weight information also changes accordingly.

[0055] The installation positions, installation angles, etc. of each radar device are different, resulting in different coordinate systems corresponding to their data. Therefore, the calculation node can map the acquisition data of multiple radar devices to the same coordinate system for fusion and output. Specifically, as an optional embodiment, fusing the point cloud data of multiple radar devices according to the obtained weight information to obtain the fusion data includes: determining the target coordinate system and determining the mapping relationship between each radar device and the target coordinate system; mapping the point cloud data of each radar device into the mapping information of the target coordinate system according to the mapping relationship; and fusing the mapping information of multiple radar devices according to the obtained weight information to obtain the fusion data. Determining the mapping relationship between each radar device and the target coordinate system includes: obtaining the radar coordinate system of each radar device; and determining the mapping relationship between each radar device and the target coordinate system according to the radar coordinate system and the target coordinate system.

[0056] Multiple radars can be divided into a main radar device and at least one secondary radar device. The main radar device can also be referred to as a computing node. The computing node can be a radar device with radar function or a computing device without radar function. When the computing node is a computing device without radar function, the number of secondary radar devices is multiple. When the computing node is a radar device with radar function, the number of secondary radar devices can be one or multiple. Moreover, in this solution, the target coordinate system can be the coordinate system where the main radar device is located or a user-defined one. Specifically, as an optional embodiment, among the multiple radar devices related to the target object in the target area, there is a main radar device. The main radar device and the computing node are the same device or two devices with the same position. The target coordinate system is the coordinate system of the main radar device or the position coordinate system set by the user. In this solution, the main radar device and the computing device can also be two devices with the same installation position. The computing node can aggregate the point cloud data of the main radar device and the secondary radar devices for data fusion to obtain the target information of the target object.

[0057] In this solution, the coordinate system of the main radar device can be used as the target coordinate system to align the data corresponding to the radar coordinate systems of multiple secondary radar devices for data fusion. Specifically, as an optional embodiment, determining the mapping relationship between each radar device and the target coordinate system includes: obtaining the radar coordinate system of each radar device; determining the mapping relationship between each radar device and the target coordinate system according to the radar coordinate system and the target coordinate system.

[0058] In this solution, the radar coordinate system can be determined according to the input information of the user. Specifically, as an optional embodiment, obtaining the radar coordinate systems of each radar device includes: providing an interactive page in the user terminal, which is used to display the target area. Specifically, it refers to constructing a three-dimensional modeling diagram of the target area according to the information diagram of the target area uploaded by the user (such as a house type diagram), and displaying the three-dimensional modeling diagram of the target area to the user in the interactive page; based on the radar setting operations for the target area displayed in the interactive page, obtaining the radar coordinate information, which includes the positions and angles of each radar device in the target area, and then the radar coordinate systems of each radar device can be determined according to the radar coordinate information. This solution can display the interactive page to the user. The user can upload the information diagram of the target area based on the interactive page (such as the user can upload a house type diagram), and perform modeling based on the house type diagram to obtain a three-dimensional modeling diagram, and display the three-dimensional modeling diagram to the user. Then the user can set the positions, angles, etc. of the radar devices in the three-dimensional modeling diagram, and can even set the main radar device and the secondary radar devices in each radar device, and finally obtain the radar coordinate information of each. Correspondingly, after tracking the trajectory of the target object in the target area based on the target information of the target object, for the convenience of the user to view, the trajectory or positioning of the target object tracked in the target area can be displayed in the three-dimensional modeling diagram. Specifically, as an optional embodiment, the method further includes: determining the display information of the target object in the three-dimensional modeling diagram according to the target information of the target object, and displaying it in the three-dimensional modeling diagram.

[0059] In addition, in this solution, in addition to determining the positions, angles, etc. of the radar devices according to the interaction with the user, the main radar device can also be used to identify the secondary radar devices, and then determine the radar coordinate information such as the positions and angles of the secondary radar devices, and then determine the corresponding radar coordinate system. Specifically, as an optional embodiment, the multiple radar devices include a main radar device and multiple secondary radar devices; the main radar device is used to execute the target detection method; obtaining the radar coordinate systems of each radar device includes: identifying each of the secondary radar devices in the target area by the main radar device to obtain the radar coordinate information of each of the secondary radar devices; determining the radar coordinate systems of each of the secondary radar devices according to the radar coordinate information of each of the secondary radar devices.

[0060] Based on the above embodiments, the embodiment of the present application further provides a target detection method, which can be applied to a user terminal, and can display the detection results of multiple radars on the user terminal for the user to view. Specifically, the method includes:

[0061] Obtain the target information of the target object within the target area. The target information is obtained by performing target detection on the target object within the target area based on the fusion data. The fusion data is obtained by fusing the point cloud data collected by multiple radar devices within the target area and the weight information corresponding to the point cloud data. The weight information is determined according to the weight-related factors of the target object relative to each radar device; the target information is used to indicate the position and / or trajectory of the target object within the target area.

[0062] Determine the trajectory or position of the target object according to the target information.

[0063] Display the trajectory or position of the target object on the interaction page.

[0064] The implementation manner of this embodiment is similar to that of the above method embodiment, and will not be elaborated here. This solution can be applied to a user terminal. The user terminal can interact with the main radar to obtain the information sent by the main radar (such as trajectory information or position information), and provide an interaction page on the user terminal to display the trajectory information or position information of the target object, which is convenient for interacting with the user.

[0065] The main radar can interact with the secondary radar to obtain the acquisition data and weight information of the secondary radar to determine the target information. Correspondingly, the acquisition data can be mutually converted according to the positional relationship and angular relationship between the secondary radar and the main radar for the fusion of the acquisition data. Correspondingly, the positional relationship and angular relationship between the main radar and the secondary radar can be determined by manual input. Specifically, as an optional embodiment, based on the radar setting operation for the interaction page, radar coordinate information is obtained; the radar coordinate information includes at least one of the installation position and installation angle of each radar device in the target area; according to the radar coordinate information, the radar coordinate systems of each radar device are determined. The user can set the coordinate systems of each radar device on the user terminal and upload them to the main radar to determine the positional relationship and angular relationship between the radars, etc.

[0066] Based on the above embodiment, the embodiment of the present application further provides a target detection system, which includes a main radar device and at least one secondary radar device, wherein: each of the secondary radar devices is used to collect point cloud data within the target area; the main radar device is used to obtain the point cloud data collected by each of the secondary radar devices and the corresponding weight information, and fuse the point cloud data of each of the secondary radar devices according to the obtained weight information, so as to perform target detection on the target object within the target area based on the fused fusion data to obtain the target information of the target object; the target information is used to indicate the position and / or trajectory of the target object within the target area.

[0067] The solution of this application can be applied to scenarios where a target (or target object) is detected based on a radar device. The radar device can be used to locate the position information of the target or identify target information such as the trajectory information of the target. The solution of this application can use multiple slave radar devices to collect data and upload the collected point cloud data to the master radar device. The master radar device can also obtain the weight information corresponding to each point cloud data and perform fusion of the point cloud data according to the weight information, thereby determining the target information of the target object. In this solution, data is collected by multiple radar devices, weights are configured for the collected data, and then they are fused together for target detection to obtain more accurate target information.

[0068] In a specific application scenario, multiple radar devices can be set in the target area, including one master radar device and at least one slave radar device. A weight function table for influencing factors such as distance and angle is pre-allocated in each radar device (the point cloud data collected by the radar device includes information such as distance, angle, speed, and signal-to-noise ratio, and a weight function table for each type of information can be set). The function tables of different radars will be affected by parameters such as the maximum ranging range and maximum angle measurement range detected by the radar itself. Taking the maximum ranging of the radar as 10m and the angle measurement range [-60°, 60°] as an example, the relationship between distance and weight (as Figure 2 shown), and the relationship between angle and weight (as Figure 3 shown). Considering from the distance dimension, some radar devices are close to the target and some are far from the target. Then, the point cloud data of the radar device close to the target is more credible, and the weight assigned according to the function table is also larger. The point cloud data of the radar device far from the target is slightly less credible, and the weight assigned according to the function table is also smaller.

[0069] After each radar collects the point cloud data, it is necessary to determine the weight corresponding to each point cloud data. When determining the weight of a certain point cloud data, the weight of the point cloud data can be determined according to the weight function table corresponding to any one of the information such as distance, angle, speed, and signal-to-noise ratio pre-allocated in the radar, or the weight of the point cloud data can be determined according to the weight function tables corresponding to any multiple of the information such as distance, angle, speed, and signal-to-noise ratio. If multiple information weight function tables are selected for comprehensive calculation of the weight, for example, when determining the weight of the point cloud data according to distance and angle, the weight a1 can be obtained according to the function table shown in Figure 2 , and the weight a2 can be obtained according to the function table shown in Figure 3 , and then a1 and a2 are multiplied or added to obtain the final weight A.

[0070] During the process of target tracking, since the target is dynamically changing, the relative positions between the target and each radar device are also changing. Therefore, the point cloud data detected by each radar device and its corresponding weights are also changing in real time.

[0071] Each secondary radar device sends the point cloud data and its corresponding weights to the primary radar device, and they are concentrated on the primary radar device for joint target trajectory tracking processing. The primary radar device will perform coordinate transformation on the point cloud data of all secondary radar devices according to the positional relationship between each secondary radar device and the primary radar device, so that the point cloud data of all secondary radar devices is transformed into the coordinate system of the primary radar device. Then, the primary radar device comprehensively calculates the target information based on the transformed point cloud data and the weights of each point cloud data, and then outputs the target information on the primary radar device.

[0072] The following is an embodiment of the device of the present application, which can be used to execute the target detection method involved in the present application. For the details not disclosed in the embodiment of the device of the present application, please refer to the method embodiment of the target detection method involved in the present application.

[0073] The embodiment of the present application provides a target detection device, which is applied to a computing node, such as Figure 5 shown, the device includes: a collected data acquisition module 502, a weight information acquisition module 504, a target information acquisition module 506, and a target detection module 508.

[0074] Among them, the collected data acquisition module 502 is used to acquire the point cloud data collected by multiple radar devices in the target area.

[0075] The weight information acquisition module 504 is used to acquire the weight information corresponding to the point cloud data of each radar device, and the weight information is determined according to the weight-related factors of the target object in the target area relative to each radar device.

[0076] The target information acquisition module 506 is used to fuse the point cloud data of multiple radar devices according to the acquired weight information to obtain fused data.

[0077] The target detection module 508 is used to perform target detection on the target object in the target area based on the fused data to obtain the target information of the target object; the target information is used to indicate the position and / or trajectory of the target object in the target area.

[0078] Optionally, the device further includes a weight information analysis module, which is configured to: extract weight-related factors of the target object relative to each radar device from the point cloud data of each radar device, where the weight-related factors include at least one of the distance of the target object relative to the radar device, the angle of the target object relative to the radar device, the speed of the target object moving relative to the radar device, and the signal-to-noise ratio; determine weight information according to the correspondence between the weight-related factors and the weight configuration information, where the weight configuration information is used to indicate the weights assigned to the corresponding weight-related factors of the radar device.

[0079] Optionally, the weight-related factors include a first factor and a second factor; the weight information analysis module is configured to: determine a first weight according to the first factor and the weight configuration information corresponding to the first factor; determine a second weight according to the second factor and the weight configuration information corresponding to the second factor; perform a fusion calculation according to the first weight and the second weight to determine the weight information.

[0080] Optionally, the target information acquisition module 506 is further configured to: determine a target coordinate system and determine the mapping relationship between each radar device and the target coordinate system; map the point cloud data of each radar device to the mapping information of the target coordinate system according to the mapping relationship; fuse the mapping information of multiple radar devices according to the obtained weight information to obtain the fusion data.

[0081] Optionally, the target information acquisition module 506 is further configured to: acquire the radar coordinate system of each radar device; determine the mapping relationship between each radar device and the target coordinate system according to the radar coordinate system and the target coordinate system.

[0082] Optionally, the multiple radar devices include a main radar device and multiple secondary radar devices; the main radar device is configured to execute the target detection method; the target information acquisition module 506 is further configured to: identify each secondary radar device within the target area through the main radar device to obtain the radar coordinate information of each secondary radar device; determine the radar coordinate system of each secondary radar device according to the radar coordinate information of each secondary radar device.

[0083] It should be noted that when the target detection device provided in the above embodiment performs target detection, only the above division of each functional module is used for illustration. In actual application, the above functions can be assigned to different functional modules according to needs, that is, the internal structure of the target detection device will be divided into different functional modules to complete all or part of the functions described above.

[0084] In addition, the target detection device and the embodiments of the target detection method provided in the above embodiments belong to the same concept. The specific manners in which each module performs operations have been described in detail in the method embodiments and will not be elaborated herein.

[0085] Figure 6 The structural schematic diagram of an electronic device shown according to an exemplary embodiment. This electronic device is applicable to a computing node, which can be a radar device with radar functions or an electronic device without radar functions. For example, this electronic device can be a computer device deployed with a von Neumann architecture, and the computing device includes, but is not limited to, desktop computers, laptop computers, servers, and so on.

[0086] It should be noted that this electronic device is only an example adapted to this application and should not be considered as providing any limitation to the scope of use of this application. This electronic device cannot be interpreted as requiring dependence on or necessarily having Figure 6 one or more components shown in the exemplary electronic device 2000.

[0087] The hardware structure of the electronic device 2000 may vary greatly due to different configurations or performances. As Figure 6 shown, the electronic device 2000 includes: a power supply 210, an interface 230, at least one memory 250, and at least one central processing unit (CPU) 270.

[0088] Specifically, the power supply 210 is used to provide working voltages for each hardware device on the electronic device 2000.

[0089] The interface 230 includes at least one wired or wireless network interface 231 for interacting with external devices. Of course, in other examples adapted to this application, the interface 230 may further include at least one serial-parallel conversion interface 233, at least one input-output interface 235, and at least one USB interface 237, etc. As Figure 6 shown, no specific limitation is imposed herein.

[0090] The memory 250, as a carrier for resource storage, can be a read-only memory, a random access memory, a magnetic disk, or an optical disc, etc. The resources stored thereon include an operating system 251, application programs 253, and data 255, etc., and the storage method can be temporary storage or permanent storage.

[0091] Among them, the operating system 251 is used to manage and control each hardware device and application program 253 on the electronic device 2000, so as to realize the operation and processing of the massive data 255 in the memory 250 by the central processing unit 270. It can be Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSD TM, etc.

[0092] The application program 253 is computer-readable instructions that complete at least one specific task based on the operating system 251. It can include at least one module ( Figure 6 (not shown), and each module can separately contain computer-readable instructions for the electronic device 2000. For example, the target detection device can be regarded as an application program 253 deployed on the electronic device 2000.

[0093] The data 255 can be photos, pictures, etc. stored on the disk, or can also be point cloud data collected by the radar device, etc., and is stored in the memory 250.

[0094] The central processing unit 270 can include one or more than one processors, and is set to communicate with the memory 250 through at least one communication bus, so as to read the computer-readable instructions stored in the memory 250, and then realize the operation and processing of the massive data 255 in the memory 250. For example, the target detection method is completed in the form of reading a series of computer-readable instructions stored in the memory 250 by the central processing unit 270.

[0095] In addition, the present application can also be implemented by hardware circuits or a combination of hardware circuits and software. Therefore, the implementation of the present application is not limited to any specific hardware circuit, software, and the combination of the two.

[0096] Please refer to Figure 7 , in the embodiment of the present application, an electronic device 4000 is provided. The electronic device 400 is applicable to the computing node of the present application. The computing node can be a radar device with radar functions, or an electronic device without radar functions. For example, the electronic device can be a computer device deployed with a von Neumann architecture, and the computing device includes but is not limited to desktop computers, laptop computers, servers, etc.

[0097] In Figure 7 , the electronic device 4000 includes at least one processor 4001 and at least one memory 4003.

[0098] Among them, the data interaction between the processor 4001 and the memory 4003 can be realized through at least one communication bus 4002. The communication bus 4002 may include a path for transmitting data between the processor 4001 and the memory 4003. The communication bus 4002 can be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus 4002 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 7 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0099] Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 can be used for data interaction between the electronic device and other electronic devices, such as data sending and / or data receiving. It should be noted that in practical applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0100] The processor 4001 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in combination with the disclosure of the present application. The processor 4001 can also be a combination that realizes computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0101] The memory 4003 can be a ROM (Read Only Memory), or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory), or other types of dynamic storage devices that can store information and instructions. It can also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program instructions or code in the form of instructions or data structures and can be accessed by the electronic device 400, but is not limited thereto.

[0102] Computer-readable instructions are stored on the memory 4003, and the processor 4001 can read the computer-readable instructions stored in the memory 4003 through the communication bus 4002.

[0103] The one or more processors 4001 execute the computer-readable instructions to implement the object detection method in the above embodiments.

[0104] In addition, an embodiment of the present application provides a storage medium on which computer-readable instructions are stored. The computer-readable instructions are executed by one or more processors to implement the object detection method as described above.

[0105] An embodiment of the present application provides a computer program product. The computer program product includes computer-readable instructions. The computer-readable instructions are stored in a storage medium, and one or more processors of the electronic device read the computer-readable instructions from the storage medium, load and execute the computer-readable instructions, so that the electronic device implements the object detection method as described above.

[0106] Compared with the related technologies, the solution of the present application can be applied to scenarios where a target (or target object) is detected based on radar, and radar can be used to locate the position information of the target or identify target information such as the trajectory information of the target. Existing solutions are usually single-radar detection solutions, and the detection of the target is inaccurate in scenarios such as encountering obstacles. The solution of the present application can use multiple radar devices to collect data, and upload the collected point cloud data to a computing node. The computing node can also determine the weight information corresponding to each collected data, and fuse the point cloud data according to the weight information, so as to determine the target information of the target object. This solution proposes a method for weighted fusion of multi-radar point cloud data. Data is collected by multiple radar devices, weights are configured for the collected point cloud data, and then they are fused together for target detection to obtain more accurate target information. Moreover, this solution can set a main radar device, and through multi-radar detection with one main and multiple sub-radars, the radar detection range can be increased, the radar blind area can be reduced, and the computing power of the radars can be concentrated in one radar.

[0107] Specifically, this solution can be applied to a computing node. The computing node can be a radar device with radar functions (the radar device where the computing node is located is regarded as the main radar device, and other radar devices in the target area are regarded as sub-radar devices), or it can be an electronic device without radar functions (such as a server). The computing node can interact with multiple radar devices to obtain the point cloud data of multiple radar devices in the target area; the computing node can also obtain the weight information corresponding to the point cloud data of each radar device. The weight information is determined according to the weight-related factors of the target object relative to each radar device, and the weight-related factors are determined according to the point cloud data. After the computing node determines the point cloud data and the weight information, it can fuse the point cloud data of multiple radar devices according to the weight information, and finally obtain the target information of the target object in the target area, so as to track or locate the target object in the target area based on this target information.

[0108] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0109] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a means for implementing the functions specified in one or more flows in the flowchart and / or one or more blocks in the block diagram.

[0110] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the processor-readable memory generate a manufactured article including an instruction means that implements the functions specified in one or more flows in the flowchart and / or one or more blocks in the block diagram.

[0111] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more flows in the flowchart and / or one or more blocks in the block diagram.

[0112] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown sequentially according to the indication of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise clearly stated in this article, there is no strict order restriction for the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0113] The above is only a partial implementation manner of the present application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A target detection method, characterized in that, The method includes: Obtaining point cloud data collected by multiple radar devices within a target area; Obtaining weight information corresponding to the point cloud data of each radar device, where the weight information is determined according to weight-related factors of a target object in the target area relative to each radar device; Fusing the point cloud data of multiple radar devices according to the obtained weight information to obtain fused data; Performing target detection on the target object in the target area based on the fused data to obtain target information of the target object; the target information is used to indicate the position and / or trajectory of the target object in the target area.

2. The method according to claim 1, wherein Before obtaining the weight information corresponding to the point cloud data of each radar device, the method further includes: Extracting, from the point cloud data of each radar device, weight-related factors of the target object relative to each radar device, where the weight-related factors include at least one of the distance of the target object relative to the radar device, the angle of the target object relative to the radar device, the speed of the target object moving relative to the radar device, and the signal-to-noise ratio; Determining the weight information according to the correspondence between the weight-related factors and weight configuration information; the weight configuration information is used to indicate the weights assigned to the corresponding weight-related factors of the radar devices.

3. The method according to claim 2, wherein The weight-related factors include a first factor and a second factor; The determining the weight information according to the correspondence between the weight-related factors and weight configuration information includes: Determining a first weight according to the first factor and the weight configuration information corresponding to the first factor; Determining a second weight according to the second factor and the weight configuration information corresponding to the second factor; Performing a fusion calculation according to the first weight and the second weight to determine the weight information.

4. The method according to claim 1, wherein The fusing the point cloud data of multiple radar devices according to the obtained weight information to obtain fused data includes: Determining a target coordinate system and determining the mapping relationship between each radar device and the target coordinate system; Mapping the point cloud data of each radar device into mapping information of the target coordinate system according to the mapping relationship; Fusing the mapping information of multiple radar devices according to the obtained weight information to obtain the fused data.

5. The method according to claim 4, characterized in that, The determining the mapping relationship between each radar device and the target coordinate system includes: Obtaining the radar coordinate system of each radar device; Determining the mapping relationship between each radar device and the target coordinate system according to the radar coordinate system and the target coordinate system.

6. The method according to claim 5, characterized in that, The multiple radar devices include a main radar device and multiple sub-radar devices; The main radar device is used to execute the target detection method; The obtaining the radar coordinate system of each radar device includes: Identifying each sub-radar device in the target area through the main radar device to obtain the radar coordinate information of each sub-radar device; Determining the radar coordinate system of each sub-radar device according to the radar coordinate information of each sub-radar device.

7. A target detection method, characterized in that, The method includes: Obtain the target information of the target object within the target area, where the target information is obtained by performing target detection on the target object within the target area based on the fusion data, and the fusion data is obtained by fusing the point cloud data collected by multiple radar devices within the target area and the weight information corresponding to the point cloud data, and the weight information is determined according to the weight-related factors of the target object relative to each radar device; the target information is used to indicate the position and / or trajectory of the target object within the target area; Determine the trajectory or position of the target object according to the target information; Display the trajectory or position of the target object on the interaction page.

8. The method according to claim 7, characterized in that, The method further includes: Based on the radar setting operation for the interaction page, obtain the radar coordinate information; the radar coordinate information includes at least one of the installation position and installation angle of each radar device in the target area; Determine the radar coordinate system of each radar device according to the radar coordinate information.

9. A target detection system, characterized in that, The system includes a main radar device and at least one secondary radar device, where: Each of the secondary radar devices is used to collect point cloud data within the target area; The main radar device is used to obtain the point cloud data collected by each of the secondary radar devices and the corresponding weight information, and fuse the point cloud data of each of the secondary radar devices according to the obtained weight information, so as to perform target detection on the target object within the target area based on the fused fusion data, and obtain the target information of the target object; the target information is used to indicate the position and / or trajectory of the target object within the target area.

10. A target detection device, characterized in that, The device includes: A data acquisition module, configured to acquire the point cloud data collected by multiple radar devices within the target area; A weight information acquisition module, configured to acquire the weight information corresponding to the point cloud data of each radar device, where the weight information is determined according to the weight-related factors of the target object within the target area relative to each radar device; A target information acquisition module, configured to fuse the point cloud data of multiple radar devices according to the acquired weight information to obtain fusion data; A target detection module, configured to perform target detection on the target object within the target area based on the fusion data, and obtain the target information of the target object; the target information is used to indicate the position and / or trajectory of the target object within the target area.

11. A target detection device, characterized in that, The device includes: An information acquisition module, configured to acquire the target information of the target object within the target area, where the target information is obtained by performing target detection on the target object within the target area based on the fusion data, and the fusion data is obtained by fusing the point cloud data collected by multiple radar devices within the target area and the weight information corresponding to the point cloud data, and the weight information is determined according to the weight-related factors of the target object relative to each radar device; the target information is used to indicate the position and / or trajectory of the target object within the target area; A position determination module, configured to determine the trajectory or position of the target object according to the target information; A position display module, configured to display the trajectory or position of the target object on the interaction page.

12. An electronic device, characterized in that, Includes: at least one processor and at least one memory, wherein, computer-readable instructions are stored on the memory; the computer-readable instructions are executed by one or more of the processors, so that the electronic device implements the object detection method according to any one of claims 1 to 8.

13. A storage medium having computer-readable instructions stored thereon, characterized in that, the computer-readable instructions are executed by one or more processors to implement the object detection method according to any one of claims 1 to 8.

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